P.P.
I have a generic sleep number bed and absoutely love it. Really... it saved my marriage. I need a really hard bed and my husband likes it really soft. I'm sure you've tried adjusting the number, but if you haven't, try going from hard to soft. Don't rely on the store's fancy evaluation.
Do you happpen to see a chiropractor? I have two boys myself and I know with all the lifting and turning and bending and chasing after them, I'm miserable if I don't get into see my chiropractor. I can tell right now I need to go because my fingers and toes are tingly and my hips and neck are achy. If you're interested, I see a guy on Grand Ave off of Snelling. His name is Dan and his number is ###-###-####.
If you don't do chiropractors, I would really suggest getting a nice full body massage. I know it seems really self-indulgent. But taking care of young children is hard on your body... so is giving birth and recovering from it. You need to take some time for yourself.